CN109483515A - A kind of embedded drive-type constant force micro clamping device based on submissive enlarger - Google Patents
A kind of embedded drive-type constant force micro clamping device based on submissive enlarger Download PDFInfo
- Publication number
- CN109483515A CN109483515A CN201811402008.5A CN201811402008A CN109483515A CN 109483515 A CN109483515 A CN 109483515A CN 201811402008 A CN201811402008 A CN 201811402008A CN 109483515 A CN109483515 A CN 109483515A
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- China
- Prior art keywords
- clamping device
- constant force
- micro clamping
- type
- micro
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention discloses a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, including two L-type lever displacement amplifying mechanisms, constant force mechanisms, input movable end, matrix and two groups of clamping jaws；Micro clamping device is about central axes symmetrical structure, two L-type lever displacement amplifying mechanisms symmetrical two sides for being set to micro clamping device central axes respectively, L-type lever amplifying mechanism is equipped with input terminal and output end, the input terminal of L-type lever amplifying mechanism is connect with input movable end by flexible hinge I, input movable end is connect by blade profile hinge II with matrix, and blade profile hinge II play the guiding role；Constant force mechanisms are set between input movable end and matrix, and the chucking power to guarantee micro clamping device is constant；The output end of L-type lever displacement amplifying mechanism is bolted with clamping jaw to be connected；Piezoelectric ceramic actuator is equipped with by bolt in the middle part of matrix.The clamper has the characteristics that precision is high, simple and compact for structure, application field is wide, exportable constant clamping force.
Description
Technical field
The invention belongs to micro-manipulating robot fields, and in particular to a kind of embedded drive-type based on submissive enlarger is permanent
Power micro clamping device.
Background technique
In recent years, with the development of biomedicine, optical engineering, microelectronics industry and micro-manipulating robot, small items
Assembly, more and more attention has been paid to researchers for fiber assembling and the microtechniques such as cell manipulation.It is as micro OS last
Actuator is held, micro clamping device is directly contacted with by operation object, this requires micro clamping device with good performance.
Presently, there are micro clamping device can probably be divided into two kinds: symmetrical micro clamping device and asymmetric micro clamping device,
The clamping to small items-release operation may be implemented in they.But the High power output of micro clamping device is mostly to pass through in operation
Force controller adjustment, increases the difficulty of operation.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of embedded based on submissive enlarger
Drive-type constant force micro clamping device, the clamper is with precision is high, simple and compact for structure, application field is wide, exportable constant clamping
The features such as power.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of embedded drive-type constant force micro clamping device based on submissive enlarger, including two L-type lever displacement equations
Mechanism, constant force mechanisms, input movable end, matrix and two groups of clamping jaws；The micro clamping device is about central axes symmetrical structure two
A L-type lever displacement amplifying mechanism symmetrical two sides for being set to micro clamping device central axes respectively, the L-type lever amplification machine
Structure is equipped with input terminal and output end, and the input terminal of L-type lever amplifying mechanism is connected with the input movable end by flexible hinge I
It connects, the input movable end is connect by blade profile hinge II with matrix, and blade profile hinge II plays guiding role；The constant force mechanisms
It is set between input movable end and the matrix, to guarantee the chucking power of micro clamping device as steady state value；L-type lever displacement equations
The output end of mechanism is bolted with the clamping jaw to be connected；Piezoelectric Ceramic is equipped with by bolt in the middle part of described matrix
Device, the longitudinal centre line of the piezoelectric ceramic actuator are overlapped with the central axes of the micro clamping device.
Further, the L-type lever displacement amplifying mechanism is made of stock and quarter butt, and the stock is by flexible hinge
III parallelogram mechanism constituted, parallelogram mechanism reduce while amplifying piezoelectric ceramic actuator output displacement
The coupling of clamping jaw end is displaced.
Further, the clamper is to be integrally formed to obtain by plate wire cutting.
Further, the jaw thickness of the clamping jaw is less than the thickness of micro clamping device other structures.
Further, the corresponding bolt that is equipped with connects on the stock end of the L-type lever amplifying mechanism and the clamping jaw
Connect hole.
Further, described matrix is equipped with location hole.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
1. microoperation holder structure can be made compact using symmetrical structure design.
2. the driving source using piezoelectric ceramic actuator as microoperation clamper, can be substantially reduced wire clamp total quality
And movement inertia.
3. the stock of L-type lever displacement amplifying mechanism is designed as parallelogram mechanism, to realize both ends jaw along water
Square to movement, it can be avoided since clamping component causes held object to loosen, can be improved the stabilization of microoperation clamper
Property and precision.
4. by arranging blade profile hinge in the movable input terminal of micro clamping device, it is ensured that clamper input terminal is in the axial direction
Movement, to guarantee piezoelectric ceramic actuator not by tangential force.Piezoelectric Ceramic is amplified using L-type lever displacement amplifying mechanism
The output displacement of device, making microoperation clamper in the horizontal direction has larger opening and closing amount, can be realized to different size minims
The operation of body.
5. the micro clamping device uses constant force mechanisms, constant clamping can be exported under conditions of not using force controller
Power.According to by the difference of operation object, different power outputs is realized by adjusting the structural parameters of constant force mechanisms.This makes micro- folder
For holder when operating certain object, the participation for not needing force controller can obtain constant power output, simplify the mistake of operation
Journey.
6. the micro clamping device structure is simple, compact, weak link is few, therefore the stability of the micro clamping device is preferable.Using
Wire-electrode cutting and processing method can be integrally formed to obtain, and not need precious materials, low manufacture cost.Furthermore the clamper is small in size, ties
Structure is compact, intrinsic frequency is high, is able to achieve constant clamping force, can be adapted for the operation of different size micro elements.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is partial structure diagram of the invention；
Fig. 3 is the structural schematic diagram of clamping jaw in the present invention；
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
Please refer to FIG. 1 to FIG. 3, a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, including two L
Type lever displacement amplifying mechanism 1, constant force mechanisms 2, input movable end 8, blade profile hinge 9, matrix 6 and two groups of clamping jaws 4；The clamper
It is to be integrally formed using plate wire cutting.
The micro clamping device main body mechanism is distributed in micro clamping device top, if there are two the L-types of distribution symmetric about the axis
Lever displacement amplifying mechanism 1；L-type lever displacement amplifying mechanism 1 and micro clamping device input movable end 8 are connected by I 1-2 of flexible hinge
It connects；Relatively stock in L-type lever displacement amplifying mechanism 1 is set there are four III 1-1 of single right circular flexure hinge, be formed so that being somebody's turn to do compared with stock
Parallelogram guiding mechanism 1-3；Input movable end 8 is connect with matrix 6 by blade profile flexible hinge II 9；It is defeated in micro clamping device
Enter and be disposed with constant force mechanisms 2 between movable end 8 and matrix 6, can make micro clamping device in the operating environment of not force controller
Export constant chucking power；Piezoelectric ceramic actuator 3 is mounted in matrix 6 by pretension bolt 5, and pretension bolt 5 is connected to base
On body 6；The relatively stock end of L-type lever displacement amplifying mechanism 1 and clamping jaw 4 are equipped with link bolt hole, and micro clamping device clamping jaw 4 is logical
Cross the output end that bolt 7 is mounted on L-type lever displacement amplifying mechanism 1.
The present invention uses symmetrical structure, and holder structure can be made compact.In order to expand the application neck of microoperation clamper
Domain, with 4 separate machined of clamping jaw, the connection type being then connected by screw bolts is assembled into symmetrical L-type lever displacement amplifying mechanism 1
The different purposes of micro clamping device may be implemented by processing different clamping jaws in micro clamping device.Piezoelectric ceramic actuator in order to prevent
By shearing force, is inputted in micro clamping device and be equipped with blade profile hinge II 9 between movable end 8 and matrix 6.
The working principle of the invention:
FIG. 1 to FIG. 3 is please referred to, in the use of the present invention, matrix 6 is fixed on the machine body.When in piezoelectric ceramic actuator 3
Both ends apply driving voltage when, piezoelectric ceramic actuator 3 will extend.Piezoelectric ceramic actuator 3 drives symmetrical L-type lever to be displaced
Input movable end 8 in enlarger 1 moves, and input movable end 8 is translatable axially upward under the constraint of blade profile flexibility II 9,
Micro clamping device inputs movable end 8 and pulls the input terminal of L-type lever displacement amplifying mechanism 1 to move upwards by I 1-2 of flexible hinge,
By the amplification of L-type lever displacement amplifying mechanism 1 and the decoupling function of parallelogram mechanism 1-3, finally in micro clamping device
4 end of clamping jaw obtains desired output displacement in the horizontal direction.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (6)
1. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, which is characterized in that including two L-type levers
Displacement amplifying mechanism, constant force mechanisms, input movable end, matrix and two groups of clamping jaws；The micro clamping device is symmetrical about central axes
Structure, two L-type lever displacement amplifying mechanisms symmetrical two sides for being set to micro clamping device central axes respectively, the L-type
Lever amplifying mechanism is equipped with input terminal and output end, and the input terminal of L-type lever amplifying mechanism passes through with the input movable end
Flexible hinge I connects, and the input movable end is connect by blade profile hinge II with matrix, and blade profile hinge II plays guiding role；
The constant force mechanisms are set between input movable end and the matrix, to guarantee the chucking power of micro clamping device as steady state value；L-type
The output end of lever displacement amplifying mechanism is bolted with the clamping jaw to be connected；It is equipped in the middle part of described matrix by bolt
Piezoelectric ceramic actuator, the longitudinal centre line of the piezoelectric ceramic actuator are overlapped with the central axes of the micro clamping device.
2. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, feature exist according to claim 1
In the L-type lever displacement amplifying mechanism is made of stock and quarter butt, and the stock is parallel four be made of flexible hinge III
Bian Xing mechanism, parallelogram mechanism reduce the coupling of clamping jaw end while amplifying piezoelectric ceramic actuator output displacement
Displacement.
3. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, feature exist according to claim 1
In the clamper is to be integrally formed to obtain by plate wire cutting.
4. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, feature exist according to claim 1
In the jaw thickness of the clamping jaw is less than the thickness of micro clamping device other structures.
5. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, feature exist according to claim 1
In corresponding on the stock end of the L-type lever amplifying mechanism and the clamping jaw to be equipped with bolt connecting hole.
6. a kind of embedded drive-type constant force micro clamping device based on submissive enlarger, feature exist according to claim 1
In described matrix is equipped with location hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811402008.5A CN109483515A (en) | 2018-11-22 | 2018-11-22 | A kind of embedded drive-type constant force micro clamping device based on submissive enlarger |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811402008.5A CN109483515A (en) | 2018-11-22 | 2018-11-22 | A kind of embedded drive-type constant force micro clamping device based on submissive enlarger |
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| CN109483515A true CN109483515A (en) | 2019-03-19 |
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| CN201811402008.5A Pending CN109483515A (en) | 2018-11-22 | 2018-11-22 | A kind of embedded drive-type constant force micro clamping device based on submissive enlarger |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834694A (en) * | 2019-04-01 | 2019-06-04 | 江南大学 | Space micro clamping device with multistage amplification and guiding mechanism |
| CN110788835A (en) * | 2019-11-14 | 2020-02-14 | 南京工程学院 | Micro gripper based on hydraulic amplification |
| CN111015625A (en) * | 2019-12-31 | 2020-04-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro gripper with twisting function and control method |
| CN111203852A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Positive stress electromagnetic drive micro-gripper |
| CN111571621A (en) * | 2020-05-11 | 2020-08-25 | 宁波大学 | Structure-integrated clamp finger translation type compliant mechanism piezoelectric micro clamp |
| CN112283495A (en) * | 2020-10-21 | 2021-01-29 | 燕山大学 | Two-degree-of-freedom piezoelectric inertia driving pipeline robot |
| CN112476406A (en) * | 2020-12-15 | 2021-03-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device with clamping and drawing functions and method |
| CN112497186A (en) * | 2020-12-15 | 2021-03-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device and method based on bionic surface |
| CN112659096A (en) * | 2020-12-15 | 2021-04-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Dual-drive micro-nano operation device and method with clamping and drawing functions |
| CN113829248A (en) * | 2021-10-30 | 2021-12-24 | 重庆大学 | Piezoelectric flexible micro clamp with thin plate structure |
| CN114378744A (en) * | 2022-01-17 | 2022-04-22 | 贵州大学 | Adjustable constant force micro-clamp |
| CN115194727A (en) * | 2022-09-15 | 2022-10-18 | 成都理工大学 | Constant force fixture |
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| CN105773573A (en) * | 2016-01-22 | 2016-07-20 | 陈昊哲 | High-precision micro-gripper |
| CN106903613A (en) * | 2017-03-07 | 2017-06-30 | 山东大学 | The flexible polishing constant force control device of double actuator drivens |
| CN108724147A (en) * | 2018-07-27 | 2018-11-02 | 山东大学 | A kind of output of chucking power is constant force and adjustable flexible micro-clamp |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834694A (en) * | 2019-04-01 | 2019-06-04 | 江南大学 | Space micro clamping device with multistage amplification and guiding mechanism |
| CN110788835A (en) * | 2019-11-14 | 2020-02-14 | 南京工程学院 | Micro gripper based on hydraulic amplification |
| CN110788835B (en) * | 2019-11-14 | 2022-04-29 | 南京工程学院 | Micro gripper based on hydraulic amplification |
| CN111015625A (en) * | 2019-12-31 | 2020-04-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro gripper with twisting function and control method |
| CN111203852A (en) * | 2020-01-16 | 2020-05-29 | 南京理工大学 | Positive stress electromagnetic drive micro-gripper |
| CN111571621B (en) * | 2020-05-11 | 2021-09-03 | 宁波大学 | Structure-integrated clamp finger translation type compliant mechanism piezoelectric micro clamp |
| CN111571621A (en) * | 2020-05-11 | 2020-08-25 | 宁波大学 | Structure-integrated clamp finger translation type compliant mechanism piezoelectric micro clamp |
| CN112283495A (en) * | 2020-10-21 | 2021-01-29 | 燕山大学 | Two-degree-of-freedom piezoelectric inertia driving pipeline robot |
| CN112283495B (en) * | 2020-10-21 | 2022-03-15 | 燕山大学 | Two-degree-of-freedom piezoelectric inertia driving pipeline robot |
| CN112659096A (en) * | 2020-12-15 | 2021-04-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Dual-drive micro-nano operation device and method with clamping and drawing functions |
| CN112497186A (en) * | 2020-12-15 | 2021-03-16 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device and method based on bionic surface |
| CN112476406A (en) * | 2020-12-15 | 2021-03-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device with clamping and drawing functions and method |
| CN113829248A (en) * | 2021-10-30 | 2021-12-24 | 重庆大学 | Piezoelectric flexible micro clamp with thin plate structure |
| CN114378744A (en) * | 2022-01-17 | 2022-04-22 | 贵州大学 | Adjustable constant force micro-clamp |
| CN115194727A (en) * | 2022-09-15 | 2022-10-18 | 成都理工大学 | Constant force fixture |
| CN115194727B (en) * | 2022-09-15 | 2022-11-25 | 成都理工大学 | Constant force fixture |
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